PointCloudLibrary/pcl

OniGrabber wrongly assumes image data is RGB

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#683 opened on May 19, 2014

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good first issuekind: todomodule: ioneeds: author reply

Description

In openni_device_oni.cpp:

boost::shared_ptr<openni_wrapper::Image> 
openni_wrapper::DeviceONI::getCurrentImage(boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ()
{
  return (boost::shared_ptr<openni_wrapper::Image> (new openni_wrapper::ImageRGB24 (image_meta_data)));
}

This leads to weirdly corrupted images when .oni files that have a different encoding are played back in pcl_openni_viewer or when using the -oni switch in kinfu_app.

The openni_wrapper::DeviceONI::DeviceONI constructor should check the XnPixelFormat returned by image_generator_.GetPixelFormat() and pick the correct Image type, or at least throw an error if that's not RGB instead of wrongly interpreting the data.

Contributor guide

Tech stack
cpp
Domain
data
Issue type
bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
C++pixel format basicsPCL openni module
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
45
Research direction
The bug is in the file `openni device oni.cpp`. The function `DeviceONI::getCurrentImage` currently always returns an `ImageRGB24` object. To fix this, examine the `DeviceONI` constructor where `image generator .GetPixelFormat()` is available. Then, based on the `XnPixelFormat` value, instantiate the appropriate `Image` subclass (e.g., `ImageRGB24`, `ImageYUV422`, etc.) or throw an error if unsupported. Reference the OpenNI pixel format documentation at http://kinectcar.ronsper.com/docs/openni/ xn types 8h.html#a1353b63052b435e150ca0f652539b431.